version: 66.13
glider: 401
mission: 22
dive: 537
start: 8 5 117 10 52 29
data:
$ID,401
$MISSION,22
$DIVE,537
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,24
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,600
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,25
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,050817,100150,6004.9888,-17303.6621,5,0.8,18,7.4,0.0,197.2,10,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-4.3
$GPS2,050817,100150,6004.9888,-17303.6621,5,0.8,18,7.4,0.0,197.2,10,4.9
$SPEED_LIMITS,0.229,0.384
$TGT_NAME,W6N
$TGT_LATLONG,6006.060,-17319.020
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.366026,0.116981
$KALMAN_X,60918.929688,-2462.784424,-329.950409,-207885.468750,165.844269
$KALMAN_Y,43232.296875,936.039978,52.926315,47775.738281,-119.162857
$MHEAD_RNG_PITCHd_Wd,280.3,14315,-7.8,-8.333,-12.24,10325
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-1.58,-584.7,2391,1961,2365,4092,0.0,0.0,0,21,5.78,0.00,-4.47,0.000,20482,0.024,0.000,1832,1961,2864,2864,4094,0,0,0,0,0,0,26.08,28.83,26.10,10.31,51.29
$GC,24,-1.58,-584.7,1832,1961,2864,4094,0.2,0.0,1,34,0.00,1.20,-2.88,0.000,16900,0.000,1.291,1832,1523,3169,3169,4095,0,0,0,0,0,0,26.27,24.90,26.27,10.42,51.33
$GC,281,-1.58,-584.7,1831,1523,3174,4095,29.7,-11.3,39,290,0.00,0.98,0.00,0.000,1030,0.000,0.025,1832,1948,3175,3175,4094,0,0,0,0,0,0,26.19,26.16,26.20,10.42,49.29
$GC,326,-1.58,-584.7,1832,1947,3174,4094,34.7,-10.6,45,336,0.00,1.08,0.00,0.000,260,0.000,0.044,1832,2358,3175,3175,4095,0,0,0,0,0,0,26.41,26.13,26.41,10.41,48.58
$GC,372,-1.58,-584.7,1831,2358,3176,4095,39.4,-10.5,51,381,0.00,1.00,0.00,0.000,1030,0.000,0.029,1832,1961,3176,3176,4094,0,0,0,0,0,0,26.22,26.20,26.25,10.40,48.34
$GC,417,-1.58,-584.7,1831,1960,3177,4094,44.3,-11.1,57,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1960,3177,3177,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.39,47.28
$GC,464,-1.58,-584.7,1831,1961,3178,4094,49.2,-11.3,63,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1961,3178,3178,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.39,46.73
$GC,508,-1.58,-584.7,1831,1961,3179,4094,54.5,-11.1,69,517,0.00,0.00,0.00,0.000,6,0.000,0.000,1832,1961,3179,3179,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.38,47.12
$GC,553,-1.58,-584.7,1831,1961,3180,4095,59.5,-11.6,75,563,0.00,1.08,0.00,0.000,260,0.000,0.043,1832,2363,3180,3180,4095,0,0,0,0,0,0,26.51,26.23,26.52,10.38,46.88
$STATE,571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,571,begin apogee
$GC,577,-0.45,0.0,1832,1945,3181,4095,61.6,-10.9,77,621,3.80,0.00,33.40,1.313,10244,0.053,0.000,2183,1945,2483,2483,4094,0,0,0,0,0,0,26.23,24.97,24.27,10.38,45.94
$STATE,622,end apogee,CONTROL_FINISHED_OK
$STATE,622,begin climb
$GC,624,1.58,584.7,2183,1945,2483,4094,64.3,0.0,82,668,6.97,0.00,33.35,1.290,11270,0.036,0.000,2831,1945,1803,1803,4094,0,0,0,0,0,0,25.47,25.63,23.79,10.23,45.58
$GC,706,1.58,584.7,2830,1945,1803,4094,59.0,9.7,92,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1945,1802,1802,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.07,44.64
$GC,751,1.58,584.7,2830,1945,1802,4094,54.5,9.8,98,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1945,1801,1801,4095,0,0,0,0,0,0,25.66,25.68,25.67,10.07,44.80
$GC,795,1.58,584.7,2830,1945,1800,4095,50.0,9.8,104,805,0.00,1.15,0.00,0.000,260,0.000,0.041,2831,2363,1800,1800,4094,0,0,0,0,0,0,25.80,25.53,25.81,10.07,45.51
$GC,888,1.58,584.7,2830,2363,1798,4094,40.8,10.1,117,898,0.00,1.02,0.00,0.000,1030,0.000,0.029,2831,1965,1798,1798,4094,0,0,0,0,0,0,25.76,25.73,25.80,10.06,45.19
$GC,934,1.58,584.7,2830,1964,1797,4094,36.4,9.7,123,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1965,1797,1797,4095,0,0,0,0,0,0,26.06,26.07,26.06,10.05,45.55
$GC,978,1.58,584.7,2830,1964,1796,4095,32.3,9.3,129,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1965,1796,1796,4095,0,0,0,0,0,0,26.10,26.13,26.12,10.04,45.70
$GC,1023,1.58,584.7,2830,1964,1795,4095,28.3,9.0,135,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1965,1795,1795,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.06,45.94
$GC,1069,1.58,584.7,2830,1964,1794,4094,24.2,9.3,141,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1965,1794,1794,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.06,46.29
$GC,1112,1.58,584.7,2830,1964,1794,4094,20.2,8.6,147,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1966,1794,1794,4094,0,0,0,0,0,0,26.24,26.26,26.25,10.07,46.57
$GC,1157,1.58,584.7,2830,1964,1793,4094,16.5,8.5,153,1167,0.00,1.05,0.00,0.000,260,0.000,0.041,2831,2357,1792,1792,4094,0,0,0,0,0,0,26.28,26.00,26.29,10.09,47.63
$GC,1229,1.67,646.3,2830,2356,1791,4094,10.7,7.7,163,1240,0.22,0.98,4.38,0.459,11270,0.036,0.031,2865,1970,1730,1730,4094,0,0,0,0,0,0,26.12,26.11,25.29,10.10,48.54
$GC,1278,1.85,763.5,2864,1969,1730,4094,7.2,7.2,169,1297,0.43,1.15,7.65,0.578,10756,0.036,0.054,2913,1523,1593,1593,4094,0,0,0,0,0,0,26.09,25.90,25.27,10.12,49.33
$GC,1335,1.85,763.5,2912,1523,1591,4094,2.6,8.7,176,1344,0.00,1.00,0.00,0.000,1030,0.000,0.027,2913,1959,1591,1591,4094,0,0,0,0,0,0,26.12,26.06,26.08,10.11,50.35
$STATE,1352,end climb,SURFACE_DEPTH_REACHED
$STATE,1352,begin surface coast
$FINISH,0.2,1.024077
$STATE,1380,end surface coast,CONTROL_FINISHED_OK
$STATE,1380,begin surface
$SM_CCo,1478,0.00,0.000,0,0,1590,768.45
$SM_GC,0.87,28.20,0.00,0.00,0.021,0.000,0.000,230,1965,1590,-6.59,0.68,768.45,0,0,0,0,0,0,25.98,26.32,26.08
$IRIDIUM_FIX,5952.82,-17420.78,050817,095310
$TT8_MAMPS,0.025466,0.211967
$HUMID,50.82
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.79,13.928
$10V_AH,10.23,17.323
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,45.400,12.750,78.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,495.960,60.530,162.794,765.427,53.411,33.414,443.608,0.000,272.975,0.000,0.541,0.000
$DEVICE_MAMPS,52.785,1291.320,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.357,494.444,0.000,580.139,758.005,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330812
$DATA_FILE_SIZE,17895,182
$CAP_FILE_SIZE,33706,0
$CFSIZE,1024409600,993083392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050817,111834,6005.005,-17305.027,7,1.0,52,7.3,0.3,291.9,8,4.0